Simulator¶
Module pydobotlab.simulator. Simulated arms that replace the serial layer, for use without hardware. A walkthrough is in Running without hardware.
| Member | Description |
|---|---|
install_simulator |
Replace the serial layer with simulated arms. |
is_simulator_installed |
Whether the simulator is installed. |
stop_all |
Stop and remove all simulated arms. |
install_simulator¶
Replace the serial layer with simulated arms.
After the call, Magician, port discovery, the broker, and the control panel use the simulated arms. Port discovery lists only the simulated ports. Calling the function again does not reinstall the simulator.
Parameters
| Name | Type | Description |
|---|---|---|
arms |
int or None, default None |
Number of simulated arms, at least 1. None uses the configured default, 2 unless changed. |
Returns list[str]: port names, /dev/sim0, /dev/sim1, and so on.
Notes
Point-to-point targets outside the workspace of the real arm set the PLAN_INVERSE_CALCULATION alarm, as on the real arm.
Example
from pydobotlab.simulator import install_simulator
port = install_simulator(arms=1)[0]
with Magician(port=port, via_broker=False) as bot:
bot.ptp(mode=1, x=200, y=0, z=50, r=0) # MOVJ_XYZ
is_simulator_installed¶
Return whether install_simulator has been called in this process.
stop_all¶
Stop the background threads of all simulated arms and remove the arms.